26 lines
601 B
TypeScript
26 lines
601 B
TypeScript
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namespace control {
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export class EulerIntegrator {
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public value: number;
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private t: number;
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private v: number;
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constructor() {
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this.reset();
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}
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public integrate(derivative: number): void {
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let now = control.millis();
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let dt = (now -this.t) / 1000.0;
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this.value += dt * (this.v + derivative) / 2;
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this.t = now;
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this.v = derivative;
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}
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public reset() {
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this.value = 0;
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this.v = 0;
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this.t = control.millis();
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}
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}
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}
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